A-LOAM for kitti dataset

This repository contains modified code of A-LOAM to run and evaluate with kitti-data set. When you run the code, you'll get the trajectory results of A-LOAM in KITTI groundtruth format and you can directly evalutate the result with KITTI gt by EVO-eval kit. A-LOAM already has the kitti helper for kitti-data usage but I found that it has some problem with directories, so I modified it. Wish you find it helpful, especially who are not familiar with ROS and LOAM.

1. Prerequisites

1.1 Ubuntu and ROS

Ubuntu 64-bit 16.04 or 18.04. ROS Kinetic or Melodic. ROS Installation

1.2. Ceres Solver

Follow Ceres Installation.

1.3. PCL

Follow PCL Installation.

2. Build A-LOAM

Clone the repository and catkin_make:

    cd ~/catkin_ws/src
    git clone https://github.com/HKUST-Aerial-Robotics/A-LOAM.git
    cd ../
    rosdep install --from-paths src --ignore-src -r -y
    catkin_make
    source ~/catkin_ws/devel/setup.bash

3 Making new bagfile from kitti dataset

Download odometry dataset(color or gray, velodyne, calibration, ground truth) from : http://www.cvlibs.net/datasets/kitti/eval_odometry.php and Merge them all in one dataset directory

3.1 Edit the launch file

gedit ~/catkin_ws/src/A-LOAM/launch/kitti_helper.launch

Change 'dataset_folder' and 'output_bag_file' to your own directories

3.2 Run the launch file:

roslaunch kittibag kittibag.launch

4. Run the package

4.1 change the result directory in launch file :

gedit ~/catkin_ws/src/A-LOAM/launch/aloam_velodyne_HDL_64.launch

Change 'RESULT_PATH' to your result dir

4.2 Run the launch file:

roslaunch aloam_velodyne aloam_velodyne_HDL_64.launch

4.3 Play existing bag files:

rosbag play *.bag --clock 

5. Evaluation with evo kit

Check and follow this repository

https://github.com/MichaelGrupp/evo

6. Evaluation results

For LeGO-LOAM with kitti

check https://github.com/Mitchell-Lee-93/kitti-lego-loam

Original code from

https://github.com/HKUST-Aerial-Robotics/A-LOAM